Climbing Robot Vehicle

ABSTRACT

A climbing robot vehicle comprises a vehicle ( 2 ) and the front and rear ends of the vehicle body are provided with wheels ( 3 ). The end of the vehicle body facing towards the wall is fixedly connected to a sucking mechanism. The sucking mechanism comprises a body, the body being a hollow cylinder ( 4 ). A cover plate ( 5 ) is provided above the hollow cylinder. The upper end face of the cover plate is fixedly connected with the vehicle body and the lower end face of the cover plate is fixedly connected with the outer edge of the upper end face of the hollow cylinder by means of the first blocks ( 43 ) spaced from each other. The inner wall of the hollow cylinder is provided with tangential nozzles ( 41 ). The space between the first blocks ( 43 ) forms a first exhaust duct ( 44 ) between the outer edge of the upper end face of the hollow cylinder and the lower end face of the cover. A gap is formed between the lower end face of the hollow cylinder and the wall, and the gap forms a second exhaust duct ( 42 ) between the outer edge of the lower end face of the hollow cylinder and the wall. The climbing robot vehicle can be sucked on various kinds of walls and has a strong sucking ability and a wide application range.

BACKGROUND OF THE INVENTION

The invention is related to a climbing robot vehicle.

A climbing robot vehicle is able to walk on the vertical walls andceilings, and in many specific occasions plays an important role. Forexample, we install ultrasonic flaw detector on the vehicle, then theclimbing robot vehicle can replace people to carry out flaw detection oflarge-scale buildings (bridges, tunnels, etc.), greatly reducing theoperation cost and shortening the working hours.

In order to make the climbing robot vehicle clinging to the wall, weneed to apply a pressure pointing to the wall on the vehicle. When theclimbing robot vehicle clings to a vertical wall, the pressure generatesa friction force between the vehicle and the wall. The friction forcenot only overcomes the gravity of the vehicle itself, but also providesa driving force required for moving the vehicle; when the climbing robotvehicle clings to the ceiling wall, a part of the pressure directlyovercomes the gravity of the vehicle itself, and the residual pressuregenerates a friction force between the vehicle and the wall, providing adriving force for the movement of the vehicle.

The invention whose patent application number is CN201210405689discloses a climbing robot vehicle, and the robot is equipped with anelectromagnetic sucker which generates a suction force. However, thedrawback is that the wall the robot climbs must have a magnetic field inorder to generate a suction force, which greatly limits its application.

SUMMARY OF THE INVENTION

In order to overcome the application limitations of the existingclimbing robot vehicles, the invention provides a climbing robotvehicle.

The technical proposal of the invention is that:

A climbing robot vehicle comprises a vehicle, and the front and rearends of the vehicle are provided with wheels. The end of the vehiclefacing towards the wall is fixedly connected to a sucking mechanism. Thesucking mechanism comprises a body, wherein the body is a hollowcylinder. A cover plate is provided above the hollow cylinder. The upperend face of the cover plate is fixedly connected with the vehicle andthe lower end face of the cover plate is fixedly connected with theouter edge of the upper end face of the hollow cylinder by means of thefirst blocks spaced from each other. The inner wall of the hollowcylinder is provided with a tangential nozzle. The space between thefirst blocks forms a first exhaust duct between the outer edge of theupper end face of the hollow cylinder and the lower end face of thecover plate. A gap is formed between the lower end face of the hollowcylinder and the wall, and the gap forms a second exhaust duct betweenthe out edge of the lower end face of the hollow cylinder and the wall.The first exhaust duct and the second exhaust duct connect the interiorof the hollow cylinder with the outer peripheral environmentrespectively.

Further, the upper end face of the vehicle is provided with an electricmotor which is connected to the cover plate by means of its drivingscrew; the screw is connected to the screw thread of the cover plate;the hollow cylinder and the cover plate are provided with pressuremeasuring holes, the pressure measuring holes are connected withpressure sensors.

Further, the vehicle is connected with the hollow cylinder by means ofconnecting rods, which are provided on the outer edge of the upper endface of the hollow cylinder; both ends of the connecting rods areprocessed with a screw; the intermediate section of the connecting rodis a cylinder, and stairs are provided between the cylinder and thescrew. The screws on the two ends are fixedly connected with the screwthread of the vehicle and that of the hollow cylinder respectively. Theposition of the cover plate corresponding to the connecting rod isprovided with a through hole which is slidably matched with the cylinderlocated in the intermediate section of the connecting rods. The spacebetween the cover plate and the hollow cylinder forms a first exhaustduct.

Further, the vehicle is provided with guide holes; the inside of theeach of guide holes is provided with a guide column. One end of theguide column is fixedly connected to the upper end face of the coverplate through the guide hole. The guide columns can slide in the guideholes.

Further, the outer edge of the lower end face of the hollow cylinder isprovided with a soft pad.

Further, the soft pad is a bristle strip.

Further, the lower part of the hollow cylinder is provided with anannular baffle, the upper end surface of the annular baffle is fixedlyconnected with the outer edge of the lower end face of the hollowcylinder by means of the second blocks; the second blocks cover part ofthe area of the annular baffle. The space between the second blocksforms a third exhaust duct between the outer edge of the lower end faceof the hollow cylinder and the annular baffle. The third exhaust ductconnects the interior of the hollow cylinder and the outer peripheralenvironment; The lower end face of the annular baffle is provided with asoft pad.

Further, the first blocks are equally spaced between the lower end faceof said cover plate and the outer edge of the upper end face of thehollow cylinder, and the second blocks are equally spaced between theupper end face of said annular baffle and the lower end face of saidhollow cylinder.

Further, the tangential nozzles are connected with a high pressure fluidsource by means of pipes. The high pressure fluid source includes highpressure liquid source and high pressure gas source. The high pressuregas source may be an air compressor, a fuel engine or a turbojet engineand so on; the high pressure liquid source may be a high pressure pump.

The advantages of the present invention are embodied in that:

1. The first exhaust duct is provided to eliminate the local highpressure distribution which the lower surface of the cover plate forms,thereby ensuring that a pressure is applied to the vehicle. When theclimbing robot vehicle clings to a vertical wall, the pressure generatesa friction force between the vehicle and the wall. The friction forcenot only overcomes the gravity of the vehicle itself, but also providesa driving force required for moving the vehicle.

2. The second exhaust duct is provided to avoid contact between thelower end face of the hollow cylinder and the wall, so the vehicle cantravel smoothly on the wall.

3. By adjusting the height of the first exhaust duct between the hollowcylinder and the cover plate, and the height of the second exhaust ductbetween the hollow cylinder and the wall, the pressure which the vehiclebears is always at or near the maximum value.

4. A soft pad is provided to block the exhaust flow of the secondexhaust duct between the wall and the hollow cylinder, thus eliminatingthe disturbance flow caused by concavity, convexity and unevenness ofthe wall in the second exhaust duct, maximally inhibited the impactwhich concave, convex and unevenness of the wall have on the pressuredistribution; the soft pad also blocks the air entering the airflow inthe hollow cylinder from the outside reflux, maximally protecting therotation flow in the hollow cylinder.

5. The third exhaust duct is provided to reduce the pressure on the partbetween the annular baffle and the wall and beyond the soft pad, therebyincreasing the pressure which the robot vehicle bears.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1a represents a schematic diagram of the embodiment 1 of theinvention;

FIG. 1b represents a sectional view of the hollow cylinder at theposition of the tangential nozzle;

FIG. 1c represents a distribution view of the velocity component of theairflow in the circumferential direction of the C-G surface and the D-Hsurface in the embodiment 1;

FIG. 2 represents a comparison view of pressure distribution between theembodiment of not setting the first exhaust duct and embodiment ofsetting the first exhaust duct;

FIG. 3 represents a schematic diagram of the flow of dense air near theinner wall of the hollow cylinder after provided with the first exhaustduct;

FIG. 4 represents a schematic diagram of the embodiment 2 of theinvention;

FIG. 5 represents a schematic diagram of the embodiment 3 of theinvention;

FIG. 6 represents a schematic diagram of the embodiment 4 of theinvention (on the basis of the embodiment 2, a soft pad is provided);

FIG. 7 represents a schematic diagram when there are obstacles ahead ofthe robot vehicle of the invention;

FIG. 8 represents a schematic diagram of the embodiment 5 of theinvention;

FIG. 9 represents a comparison view of pressure distribution between aembodiment of not setting the third exhaust duct and a embodiment ofsetting the third exhaust duct;

FIG. 10a represents a connection schematic diagram of the tangentialnozzle and a turbojet of the invention;

FIG. 10b represents a connection schematic diagram of the tangentialnozzle and a fuel engine of the invention.

DETAILED DESCRIPTION OF THE INVENTION

Herebelow, embodiment of the present invention will be described indetail with reference to the drawings.

Embodiment 1

Climbing robot vehicle according to FIG. 1a , FIG. 1b and FIG. 1c ,comprises a vehicle 2 and the front and rear ends of the vehicle 2 areprovided with wheels 3. The end of the vehicle 2 facing towards the wall1 is fixedly connected with a sucking mechanism. The sucking mechanismcomprises a body, wherein the body being a hollow cylinder 4. A coverplate 5 is provided above the hollow cylinder 4. The inner wall of thehollow cylinder 4 is provided with tangential nozzles 41. The upper endface of the cover plate 5 is fixedly connected with the vehicle 2 andthe lower end face of the cover plate 5 is fixedly connected with theouter edge of the upper end face of the hollow cylinder 4 by means ofthe first blocks 43 spaced from each other. The space between the firstblocks 43 forms a first exhaust duct 44 between the outer edge of theupper end face of the hollow cylinder and the lower end face of thecover plate. A gap is formed between the lower end face of the hollowcylinder 4 and the wall, and the gap forms a second exhaust duct 42between the out edge of the lower end face of the hollow cylinder andthe wall. The first exhaust duct 44 and the second exhaust duct 42connected the interior of the hollow cylinder with the outer peripheralenvironment respectively.

After the upstream of the tangential nozzles supply pressurized air, theair is ejected from the nozzles at high speed and rotating along thecircular wall of the hollow cylinder. After rotating, a part of the airis discharged through the first exhaust duct, and the other part isdischarged through the second exhaust duct. The first exhaust duct andthe second exhaust duct both play very important roles. The followingdescription details the role of the two exhaust ducts.

In order to facilitate the following description, some of the key pointsof the vehicle are marked (see FIG. 1a ). Pressure which the vehiclebears is the sum of the pressure distribution generated by that airflow(if not specified, the pressure here refers to gauge pressure) in theA-B, C-D and E-F surface.

The role of the first exhaust duct:

The first exhaust duct mainly affects the pressure distribution of C-Dsurface. Air rotates in the hollow cylinder, then the air of the centralpart of the hollow cylinder will be thrown to the outer periphery by acentrifugal force, which makes the air of the central part become thin,while the air near the inner wall of the hollow cylinder becomes dense,i.e., the pressure distribution will be in a concave shape in the hollowcylinder, where the center pressure is low and the outer pressure ishigh (as shown in FIG. 2). If there is no first exhaust duct, peripheralpressure distribution of the C-D surface will be high, i.e., the gaugepressure will be greater than zero. This high pressure part not onlyexerts a repulsive force on the vehicle, but also makes theconcave-shaped pressure distribution in the hollow cylinder move in thedirection of the high pressure. These will weaken the pressure which thevehicle bears. The first exhaust duct between the upper end face of thehollow cylinder and the cover plate can greatly improve the pressure.The first exhaust duct connects the inner of the hollow cylinder withouter environment, and the air which is thrown by the centrifugal forceof the rotating airflow into the outer circumferential surface will flowinto and through the first exhaust duct, channeling the dense air nearthe inner wall of the hollow cylinder, forming the flow as shown in FIG.3, thereby reducing the high pressure near the inner wall of the hollowcylinder. Also, because the first exhaust duct is located in the samecross section with the C-D surface and therefore the C-D surface is themost downstream of the flow, pressure of the C-D surface is lower thanother cross sections. In addition, the airflow has a tangential velocitycomponent when entering the first exhaust duct. As the air flows throughthe first exhaust duct, the flow velocity component is gradually reducedto zero under the effect of viscous friction. FIG. 1c represents adistribution view of the tangential component of the velocity of theairflow in the first exhaust duct (i.e., the C-G and D-H segments). Byanalyzing the equation of fluid motion (i.e., the Navier-Stokesequation), the tangential velocity component can affect the pressuredistribution in the radial direction. When the first exhaust duct is atan appropriate height, the velocity component of the circumferentialdirection will form a weak low pressure distribution in the firstexhaust duct. Because the first exhaust duct is located in the samecross section with the C-D surface, the low pressure distribution formedin the first exhaust duct can cause the pressure distribution of the C-Dsurface to move in the direction of the low pressure, as shown in FIG.2. In summary, the first exhaust duct can improve the pressure which thevehicle bears.

The role of the second exhaust duct:

The second exhaust duct is provided to avoid contact between the lowerend face of the hollow cylinder and the wall, so the vehicle can travelsmoothly on the wall. If there is no second exhaust duct, then frictionwill be formed between the lower end face of the hollow cylinder and thewall, hindering the vehicle travelling on the wall; if there areobstacles such as a convexity on the wall, collision will happen betweenthe hollow cylinder and the obstacles, making the vehicle stuck. Anotherrole of the second exhaust duct is to make the A-B surface and E-Fsurface produce a weak low pressure distribution. A part of the airflowhas a velocity component in the direction of the circumference whenentering the second exhaust duct. As the air flows through the secondexhaust duct, the flow velocity component is gradually reduced to zerounder the effect of viscous friction. By analyzing the equation of fluidmotion (i.e., the Navier-Stokes equation), the velocity component of thecircumferential direction can affect the pressure distribution in theradial direction. When the second exhaust duct is at an appropriateheight, the velocity component of the circumferential direction willform a weak low pressure distribution in the second exhaust duct (i.e.,the A-B and E-F segments). The low pressure distribution can exert apressure on the vehicle, thereby increasing the total pressure which thevehicle bears.

Embodiment 2

According to FIG. 4, on the basis of the above embodiment 1, the upperend face of the vehicle 2 is provided with an electric motor 6, whilethe electric motor 6 is connected with the cover plate 5 by means of thescrew 61 it drives; the screw 61 is connected with the screw thread ofthe cover plate 5; the cover plate 5 is provided with pressure measuringholes which are connected with pressure sensors 7; the cover plate isconnected with the hollow cylinder 4 by means of connecting rods 9,while the connecting rods 9 are provided on the outer edge of the upperend face of the hollow cylinder 4; both ends of the connecting rods 9are processed with a screw, the intermediate section of the connectingrod is a cylinder, and stairs are provided between the cylinder and thescrew. Both ends of the screw are fixedly connected with the screwthread of the vehicle and that of the hollow cylinder respectively. Theposition in the cover plate corresponding to the connecting rod isprovided with a through hole, and the through hole is slidably matchedwith the cylinder located in the intermediate section of the connectingrod. The space between the cover plate and the hollow cylinder forms afirst exhaust duct.

In this embodiment, after rotating in the hollow cylinder, a part of theair is discharged through the first exhaust duct, and the other part isdischarged through the second exhaust duct. This embodiment is a furtherimprovement scheme of the embodiment 1, which can automatically adjustthe height of the first exhaust duct.

In this embodiment, the hollow cylinder is connected with the vehicle bymeans of a plurality of connecting rods. Both ends of the connecting rodis processed with a screw, the intermediate section of the connectingrod is a cylinder, and stairs are provided between the cylindrical andthe screw. The position of the cover plate corresponding to theconnecting rod is provided with a through hole, the through hole isslidably matched with the cylinder located in the intermediate sectionof the connecting rod. Therefore, the cover plate is limited by theconnecting rod so that it will not tilt when moving. The hollow cylinderand the cover plate is provided with one or a plurality of pressuremeasuring holes, while the pressure measuring holes are connected withpressure sensors. The electric motor will adjust the height of the firstexhaust duct according to pressure signals measured by the pressuresensors. The purpose is to make the pressure which the vehicle bearsalways at or near the maximum value. The necessity of this design isillustrated in the following example.

Consider the case that the wheels of the vehicle have a leakage. Whenleakage occurs, the radius of the wheels will be smaller, which leads tothe reduction of the space between the vehicle and the wall, and thusthe height of the second exhaust duct which is formed between the hollowcylinder and the wall. This will lead to an increase of the viscosityfriction of the air flow through the second exhaust duct. Then, thepressure distribution of the second exhaust duct (i.e., the A-B and E-Fsurface) will move in the direction of the high pressure. In addition,because the viscous friction of the second exhaust duct increases, partof the air will instead go to the first exhaust duct between the coverplate and the hollow cylinder. More airflow through the first exhaustduct will lead to the pressure distribution of the first exhaust duct(that is, the C-G and D-H surface) moving towards the direction of thehigh pressure, and thus lead to the pressure distribution of the C-Dsurface moving towards the direction of high pressure. Theabove-mentioned factors will weaken the pressure which the vehiclebears. In order to solve this problem, the implementation scheme isadopted to adjust the height of the first exhaust duct. We use thepressure sensors to detect the pressure changes in the hollow cylinderand the exhaust duct in real-time, and adjust the height of the firstexhaust duct according to the pressure change.

Three pressure sensors are used to detect the pressure of threepositions respectively as shown in FIG. 4, wherein one of the threepressure sensors is connected by means of a pressure measuring hole inthe middle of the first exhaust duct, which can reflect the pressurechange in the first exhaust duct; one is connected by means of apressure measuring hole near the center of the hollow cylinder, whichcan reflect the pressure change in the hollow cylinder; one is arrangedon the hollow cylinder, measuring the pressure change of the secondexhaust duct by a pressure measuring hole. In case of leakage of thewheels, three pressure sensors will detect the increase of pressure. Atthis point, we need to increase the height of the first exhaust duct, sothat the viscous friction decreases when the air flows through the firstexhaust duct, thereby reducing the pressure distribution in the firstexhaust duct. In addition, after the height of the first exhaust portincreases, more air flows through the first exhaust duct, therebyreducing the airflow through the second exhaust duct, and thereforereducing the pressure in the second exhaust duct. To sum up, we canincrease the height of the first exhaust duct until the detected valuesof the three pressure sensors drop to the lowest value, ensuring thatthe pressure which the vehicle bears is at or near the maximum value.

Embodiment 3

According to FIG. 5, on the basis of the above embodiment 1, the upperend face of the vehicle 2 is provided with an electric motor 6, whilethe electric motor 6 is connected with the cover plate 5 by means of thescrew 61 it drives; the screw 61 is connected with the screw thread ofthe cover plate 5; the cover plate 5 and the hollow cylinder 4 areprovided with pressure measuring holes, and the pressure measuring holesare connected with pressure sensors 7. The vehicle 2 is provided withguide holes. The inside of each of guide hole is provided with a guidecolumn 8. One end of the guide column 8 is fixedly connected to theupper end face of the cover plate 5 through the guide hole. The guidecolumn 8 can slide in the guide hole.

In this embodiment, after rotating in the hollow cylinder, a part of theair is discharged through the first exhaust duct, and the other part isdischarged through the second exhaust duct. This embodiment is a furtherimprovement scheme of the embodiment 1, which can automatically adjustthe height of the second exhaust duct. The cover plate is fixedlyconnected with the hollow cylinder with pads. An electric motor is fixedon the vehicle, the motor shaft is processed with a screw, and thecenter of the cover plate is processed with a matching screw hole. Theelectric motor drives the cover plate and the hollow cylinder to movewith the screw. The guide column is fixedly installed on the uppersurface of the cover plate. The guide column extends into the guide holeprocessed on the vehicle and slides in the guide hole. The hollowcylinder is limited by the guide column and guide hole so that it willnot tilt when moving. The hollow cylinder and the cover plate isprovided with one or a plurality of pressure measuring holes, thepressure measuring holes are connected with pressure sensors. Theelectric motor will adjust the height of the first exhaust ductaccording to pressure signals measured by the pressure sensors. Thepurpose is to make the pressure which the vehicle bears always at ornear the maximum value. The necessity of this design is illustrated inthe following example.

Consider the case that the wheels of the vehicle have a leakage. Whenleakage occurs, the radius of the wheels will be smaller, which leads tothe reduction of the space between the vehicle and the wall, and thusthe height of the second exhaust duct which is formed between the hollowcylinder and the wall. This will lead to an increase of the viscosityfriction of the air flow through the second exhaust duct. Then, thepressure distribution of the second exhaust duct (i.e., the A-B and E-Fsurface) will move in the direction of high pressure. In addition,because the viscous friction of the second exhaust duct increases, partof the air will instead go to the first exhaust duct between the coverplate and the hollow cylinder. More airflow through the first exhaustduct will lead to the pressure distribution of the first exhaust duct(that is, the C-G and D-H surface) moving towards the direction of thehigh pressure, and thus lead to the pressure distribution of the C-Dsurface moving towards the direction of high pressure. Theabove-mentioned factors will weaken the pressure which the vehiclebears. In order to solve this problem, the implementation scheme isadopted to adjust the height of the second exhaust duct. We use thepressure sensors to detect the pressure changes in the hollow cylinderand the exhaust duct in real-time, and adjust the height of the secondexhaust duct according to the pressure change.

Three pressure sensors are used to detect the pressure of threepositions respectively as shown in FIG. 5, wherein one of the threepressure sensors is connected by means of a pressure measuring hole inthe middle of the first exhaust duct, which can reflect the pressurechange in the first exhaust duct; one is connected by means of apressure measuring hole near the center of the hollow cylinder, whichcan reflect the pressure change in the hollow cylinder; one is arrangedon the hollow cylinder, measuring the pressure change of the secondexhaust duct by a pressure measuring hole. In case of leakage of thewheels, three pressure sensors will detect the increase of pressure. Atthis point, we need to increase the height of the second exhaust duct,so that the viscous friction decreases when the air flows through thesecond exhaust duct, thereby reducing the pressure distribution in thesecond exhaust duct (that is, the A-B and E-F surface). In addition,because the exhaust resistance of the second exhaust duct decreases,more air flows through the second exhaust duct, thereby reducing theairflow through the first exhaust duct, therefore reducing the pressurein the first exhaust duct, thereby reducing the pressure distribution ofthe C-D surface. To sum up, we can increase the height of the secondexhaust duct until the detected values of three pressure sensors dropsto the lowest value, ensuring that the pressure which the vehicle bearsis at or near the maximum value.

Embodiment 4

According to FIG. 6, on the basis of the above embodiment 2, the outeredge of the lower end face of the hollow cylinder is provided with asoft pad 45.

In this embodiment, the lower end face of the hollow cylinder facing thewall is provided with a soft pad. The soft pad is made of a softmaterial, with one end of the soft material fixed on the hollowcylinder, and the other end in contact with the wall. For example, thesoft pad may be a bristle strip, with one end of the bristle strip stuckon the hollow cylinder, and the other end in contact with the wall. Evenif the wall is not flat, the bristle strip can stay close to the wall,so that no gap exists between the wall and the bristle strip. On the onehand, because the bristle strip is soft, it will not affect the movementof the vehicle on the wall. On the other hand, a very large flowresistance is formed between the bristle strip and the hollow cylinder.Although the bristle strip itself also has gaps, it is enough to blockthe air inside the hollow cylinder from being exhausted from the secondexhaust duct. The reason is that when the height of the exhaust duct isset to the appropriate value, the pressure is very close to theatmospheric pressure, i.e., there is no great difference between thepressure inside the exhaust duct and the external environment pressure.Thus, the flow resistance caused by the bristle strip is enough to blockthe air inside the hollow cylinder from being exhausted from the secondexhaust duct, so almost all the air will be exhausted from the flatfirst exhaust duct.

When the wall which the robot vehicle climbs is not flat, if there is nosaid soft pad, air will be exhausted from the second exhaust ductbetween the hollow cylinder and the wall, and the uneven wall will makethe flow of air in the exhaust duct disordered. The disorder flow canproduce a high pressure distribution in the second exhaust duct and thehigh pressure distribution may be asymmetric in the circumferentialdirection. This high pressure distribution in the second exhaust ductnot only exerts a repulsive force on the hollow cylinder, but also makesthe pressure distribution in the hollow cylinder moving towards thedirection of the high pressure. These will weaken the pressure which thevehicle bears and is not conducive for the vehicle to be attached to thewall. After setting up a soft pad (such as a bristle strip), the softpad is always attached to the wall, so it can form a very large flowresistance between the hollow cylinder and the wall; the flow resistancecan prevent the air from being exhausted through the second exhaustduct. A soft pad can bring the following benefits:

(1) because of the blockage of the airflow in the second exhaust duct,the disorder flow of the second exhaust duct is eliminated, and theinfluence of the uneven wall on the rotation of the hollow cylinder isinhibited maximally;

(2) the space between the chassis of a robot vehicle (i.e., the lowerend face of the adsorption mechanism) and the wall should be as great aspossible. The greater the space, the bigger barrier the robot vehiclewill be able to cross. For example, as shown in FIG. 7, there is a blockbarrier in front of the robot vehicle. If the space between the hollowcylinder and the wall is less than the height of the barrier, it isobvious that the robot vehicle is unable to cross the barrier. The softpad blocks the airflow in the second exhaust duct, then the height ofthe second exhaust duct can be increased appropriately, which canincrease the space between the lower end face of the hollow cylinder andthe wall, so as to improve obstacle surmounting capability of the robotvehicle.

The soft pad blocks the air inside the hollow cylinder from beingexhausted from the second exhaust duct, so almost all the air will beexhausted from the flat first exhaust port. We need to adjust the heightof the first exhaust duct to ensure that the pressure of the C-D surfaceis at the lowest level, and thus ensure that the pressure which thevehicle bears is at or near the maximum value.

Embodiment 5

According to FIGS. 8 and 9, on the basis of the above embodiment 4, thelower part of the hollow cylinder 4 is provided with an annular baffle46, the upper end surface of the annular baffle 46 is fixedly connectedwith the outer edge of the lower end face of the hollow cylinder 4 bymeans of the second blocks 47; the second blocks 47 cover part of thearea of the annular baffle 46. The space between the second blocks 47forms a third exhaust duct between the outer edge of the lower end faceof the hollow cylinder and the annular baffle. The third exhaust ductconnects the interior of the hollow cylinder and the outer peripheralenvironment. The lower end face of the annular baffle is provided with asoft pad, wherein the soft pad is a bristle strip.

In this embodiment, the purpose of setting the third exhaust duct is toreduce the pressure on the A-B surface and the E-F surface (the B-B′ andE-E′ surface as shown in figure) where the soft pad does not cover. Hereis a detailed explanation.

In order to achieve a good sealing effect, the soft pad is usuallyarranged in the periphery of the lower end face of the annular baffle. Agap will exist between the annular baffle and the wall where the softpad doesn't cover (the BB′ and EE′ surface as shown in figures). Thisgap will lead to the formation of a high pressure distribution for thereason that the air will be thrown to the outer periphery by thecentrifugal force of the rotating flow; if there is no exhaust duct inthe periphery, high pressure will be formed. According to this theoryand experimental verification, after the soft pad is used to block theflow of air in the second exhaust duct between the lower end face of theannular baffle and the wall, the pressure distribution of the B-B′ andE-E′ surface is moved towards the direction of the high pressure, asshown in FIG. 9, and a weakly high pressure distribution is formed inthe gap, which acts as a repulsive force on the annular baffle, so as toweaken the pressure of the robot vehicle. After adding the third exhaustduct on the hollow cylinder it connects the inner and outer peripheralenvironment of the hollow cylinder, and the third exhaust duct is closeto the A-B and E-F surface. The dense air around the entrance of theduct can be exhausted from the third exhaust duct, so as to reduce thepressure near the entrance of the duct. Also, because the duct is closeto the A-B and E-F surface, it can reduce the pressure of the B-B′ andE-E′ surface. In FIG. 9, “c” is the pressure distribution withoutsetting the third exhaust duct and “d” is pressure distribution whensetting the third exhaust duct. The results show that the pressuredistribution after setting the third exhaust duct integrally movestowards the direction of low pressure, and a weakly low pressure alsoforms on the B-B′ and E-E′ surface. These factors can increase thepressure on the robot vehicle.

Further, according to the pressure of each surface, the height of thethird exhaust duct is designed to be automatically adjusted to ensurethat the pressure which the vehicle bears is at or near the maximumvalue.

According to FIGS. 10a and 10b , in embodiments 1-5, a high-speedairflow ejected from tangential nozzles is required to form a high-speedrotating flow in the hollow cylinder. Usually, each of the nozzles isconnected with a high pressure gas source through a gas pipe to achievethe air supply. An air compressor is usually used as the high pressureair source. Because a compressor is very heavy, we can't put acompressor on the climbing robot vehicle, and we can only separate thecompressor and the climbing robot vehicle. This will bring the followingproblems: (1) the gas pipe between the compressor and the robot vehiclewill limit the moving range of the robot vehicle; (2) the robot vehiclecan work only when there is a compressor, which limits the applicationrange of the robot vehicle; (3) when the compressor supplies airflowthrough the gas pipe, the gas pipe will produce a pressure loss, and thelonger is the gas pipe, the greater is the pressure loss, which willresult in shortage of the pressure at the exit of the gas pipe (i.e.,the inlet of the nozzle).

In order to solve the above problems, we use a fuel engine to solve theproblem of high pressure gas supply. The fuel engine produces a highpressure air flow by means of the explosion of fuel (e.g., gasoline,diesel, etc.). A small turbojet engine 411 is used to replace the highpressure gas source in FIG. 10a , which is installed at the tangentposition of the hollow cylinder. The gas generated during the combustionof fuel is injected into the hollow cylinder by a small turbine engine,thereby forming a rotating flow in the hollow cylinder. A fuel engine412 is used to replace the high pressure gas source in FIG. 10b ,wherein the nozzle is connected with the fuel engine by the gas pipe.The fuel engine, which is connected with the nozzle by the gas pipe,generates a high pressure airflow through combustion and explosion. Thistechnical scheme can well solve the above-mentioned problems: (1) a fuelengine has a small volume and a light weight, which can be directlyinstalled on the vehicle, therefore, the vehicle does not need to beconnected with external devices and the moving range will not belimited; (2) after filled with fuel, the robot vehicle can work in anyplace, widening its application range; (3) since the fuel engine isdirectly installed on the vehicle, the gas pipe between the engine andthe nozzle is very short, so the pressure loss in the gas pipe canalmost be neglected, thus the inlet pressure of the nozzle can beguaranteed.

The embodiments described in this specification are cases of work underatmospheric conditions. The climbing robot vehicle can also work in aliquid environment, for example, the climbing robot vehicle of theinvention can work in deep sea. When working in the liquid environment,we can use a pump to supply high pressure water flow to the tangentialnozzle, and the water flows from the nozzle and rotates in the hollowcylinder. The principle of generating the pressure is the same as thatof embodiments 1-5. Here, high pressure gas source and high pressureliquid source are collectively referred to as high pressure fluidsource.

In order to increase the pressure, the number of the adsorptionmechanism(s) is not limited to one, but also may be plural.

The contents which the embodiments of this specification represent aremerely a list of the realization forms of the invention. The protectingscope of the invention should not be seen as being limited to specificforms which the embodiments represent, and the protecting scope of theinvention are also involved in equivalent technical means which thoseskilled in the art can conceive according to the concepts of theinvention.

1. A climbing robot vehicle comprises a vehicle and the front and rear ends of the vehicle are provided with wheels; the end of the vehicle facing towards the wall is fixedly connected to a sucking mechanism, which comprises a body, wherein the body is a hollow cylinder; a cover plate is provided above the hollow cylinder; the upper end face of said cover plate is fixedly connected with the vehicle and the lower end face of the cover plate is fixedly connected with the outer edge of the upper end face of the hollow cylinder by means of the first blocks spaced from each other; the inner wall of the hollow cylinder is provided with tangential nozzles; the space between said first blocks forms a first exhaust duct between the outer edge of the upper end face of the hollow cylinder and the lower end face of the cover plate; a gap is formed between the lower end face of the hollow cylinder and the wall, and the gap forms a second exhaust duct between the out edge of the lower end face of the hollow cylinder and the wall; the first exhaust duct and the second exhaust duct connects the interior of the hollow cylinder with the outer peripheral environment respectively.
 2. A climbing robot vehicle according to claim 1, wherein the upper end face of the vehicle is provided with an electric motor which is connected to the cover plate by means of the screw it drives; the screw is connected to the screw thread of the cover plate; the hollow cylinder and the cover plate are provided with pressure measuring holes; the pressure measuring holes are connected with pressure sensors.
 3. A climbing robot vehicle according to claim 2, wherein the vehicle body is connected with said hollow cylinder by means of connecting rods; the connecting rods are provided on the outer edge of the upper end face of said hollow cylinder; both ends of said connecting rods are processed with a screw; the intermediate section of said connecting rod is a cylinder; and stairs are provided between the cylinder and the screws; the screws on the two ends are fixedly connected with the screw thread of the vehicle and that of the hollow cylinder respectively; the position of said cover plate corresponding to the connecting rod is provided with a through hole which is slidably matched with the cylinder located in the intermediate section of said connecting rod; the space between the cover plate and the hollow cylinder forms the first exhaust duct.
 4. A climbing robot vehicle according to claim 2, wherein the vehicle is provided with guide holes; the inside of each of guide holes is provided with a guide column; one end of said guide column is fixedly connected to the upper end face of said cover plate through the guide hole; the guide column can slide in the guide hole.
 5. A climbing robot vehicle according to claim 3, wherein the outer edge of the lower end face of the hollow cylinder is provided with a soft pad.
 6. A climbing robot vehicle according to claim 5, wherein the soft pad is a bristle strip.
 7. A climbing robot vehicle according to claim 3, wherein the lower part of the hollow cylinder is provided with an annular baffle, the upper end surface of said annular baffle is fixedly connected with the outer edge of the lower end face of the hollow cylinder by means of the second blocks; the second blocks cover part of the area of the annular baffle; the space between the second blocks forms a third exhaust duct between the outer edge of the lower end face of the hollow cylinder and the annular baffle; the third exhaust duct connects the interior of the hollow cylinder with the outer peripheral environment; the lower end face of the annular baffle is provided with a soft pad.
 8. A climbing robot vehicle according to claim 7, wherein the first blocks are equally spaced between the lower end face of said cover plate and the outer edge of the upper end face of the hollow cylinder, and the second blocks are equally spaced between the upper end face of said annular baffle and the lower end face of said hollow cylinder.
 9. A climbing robot vehicle according to claim 1, wherein said tangential nozzles are connected with a high pressure fluid source by means of a tube.
 10. A climbing robot vehicle according to claim 4, wherein the outer edge of the lower end face of the hollow cylinder is provided with a soft pad.
 11. A climbing robot vehicle according to claim 4, wherein the lower part of the hollow cylinder is provided with an annular baffle, the upper end surface of said annular baffle is fixedly connected with the outer edge of the lower end face of the hollow cylinder by means of the second blocks; the second blocks cover part of the area of the annular baffle; the space between the second blocks forms a third exhaust duct between the outer edge of the lower end face of the hollow cylinder and the annular baffle; the third exhaust duct connects the interior of the hollow cylinder with the outer peripheral environment; the lower end face of the annular baffle is provided with a soft pad.
 12. A climbing robot vehicle according to claim 10, wherein the outer edge of the lower end face of the hollow cylinder is provided with a soft pad.
 13. A climbing robot vehicle according to claim 11, wherein the first blocks are equally spaced between the lower end face of said cover plate and the outer edge of the upper end face of the hollow cylinder, and the second blocks are equally spaced between the upper end face of said annular baffle and the lower end face of said hollow cylinder. 